WO2023158124A1

WO2023158124A1 - Joint assistance device capable of self-alignment

Info

Publication number: WO2023158124A1
Application number: PCT/KR2023/001031
Authority: WO
Inventors: 조규진; 윤성식
Original assignee: 서울대학교산학협력단
Priority date: 2022-02-15
Filing date: 2023-01-20
Publication date: 2023-08-24
Also published as: KR102564205B1; CN118695831A

Abstract

The present invention relates to a joint assistance device capable of self-alignment, more specifically, to a joint assistance device capable of self-alignment, which is worn on a joint part of a human body, such as a knee joint connecting a thigh to a lower leg, and assists movement of the joint. The present invention automatically aligns with the complex degree-of-freedom movement of a joint of a human body to assist the movement of the joint while moving, and is thus very convenient to be used by a user. In addition, the present invention has a relatively simple structure and thus can be produced at a comparatively low price, and can assist joint operation with a significantly high degree-of-freedom in accordance with the movement of the joint of a user.

Description

Joint aids capable of self-alignment

The present invention relates to a joint assist device capable of self-alignment, and more particularly, to a joint assist device capable of self-alignment that is worn on a joint part of the human body, such as a knee joint connecting the thigh and lower leg, to assist the movement of the joint. it's about

Several wearable robot configurations have been developed that help users rehabilitate or make their movements easier by assisting the movement of the joints by wearing them on various joints of the human body, such as the knee joint, but there are still many inconveniences for users to use them conveniently. .

Taking the knee joint as an example, the tibia does not simply rotate around the knee joint with respect to the femur, but the knee joint operates while performing relative movement and relative rotation in various directions and angles. In addition, due to the structure of joints that are different for each person, detailed movements such as the angle and direction of relative movement while each joint operates are different.

However, in the case of a conventional wearable assistive device, it is common to be configured to assist a simple 1-degree-of-freedom rotational motion. Such a conventional wearable auxiliary device has a problem in that it cannot operate by simulating complex movements of human joints due to a limited degree of freedom. Due to the limitations of such a degree of freedom, when the user actually wears and moves the wearable assistive device, motions of human joints and motions of the assistive device are not synchronized, causing pain or discomfort to the user.

It takes a lot of time and money to manufacture an assistive device that measures the structure of each individual joint and implements a customized movement corresponding to the structure of each individual joint, and the structure of the assistive device also has a problem of being complicated.

Therefore, if there is a device capable of assisting the movement of a joint with a high degree of freedom while adapting to the movement of the joint without measuring or manufacturing an individual's joint structure, the user will be able to use it conveniently.

The present invention has been devised to solve the above-mentioned needs, and while having a relatively simple and simple structure, it moves with a high degree of freedom while adapting to the movement of the user's joints and provides force in the direction in which the joints operate, thereby reducing the movement of the joints. An object of the present invention is to provide a joint assisting device capable of assisting self-alignment.

In order to achieve the above object, the self-alignable joint assist device of the present invention is a self-alignable joint assist device that is worn near a joint connecting a first part and a second part of a human body to assist movement of a joint. A first member having a first body, a plurality of first rollers installed on the first body, and a first sliding part formed on the lower surface of the first body and worn on the first part; a second member having a second body, a plurality of second rollers installed on the second body, and a second sliding part formed on an upper surface of the second body and worn on the second part; An intermediate member disposed between the first member and the second member, and a first contact portion formed on the intermediate member to permit mutual sliding while being in contact with the first sliding portion of the first member; A second contact portion formed on the intermediate member and a plurality of intermediate rollers installed on the intermediate member to allow mutual sliding in a state of contact with the second sliding portion of the two members, and the first member and the second member an intermediate unit disposed between; and the plurality of first rollers and the plurality of intermediate rollers by providing tension in a direction in which the first member, the intermediate unit, and the second member approach each other so that the first member, the intermediate unit, and the second member slide and align each other. It is characterized in that it includes; and a wire installed to pass through at least a portion of the plurality of second rollers.

In addition, the joint assist device capable of self-alignment of the present invention is worn near a joint connecting a first part and a second part of the human body to assist movement of a knee joint. In the joint assist device capable of self-alignment, the first A first member having a body, a plurality of first rollers installed on the first body, and a first sliding part formed on a lower surface of the first body and worn on the first part; The second body and the plurality of second rollers installed on the second body are formed on the upper surface of the second body and are in contact with the first sliding part of the first member to allow mutual sliding. a second member having a second sliding part formed on one body and worn on the second part; and passing through at least a portion of the plurality of first rollers and the plurality of second rollers to provide tension in a direction in which the first and second members approach each other so that the first and second members slide and align with each other. It is characterized in that it includes; a wire installed to do so.

The present invention has the advantage of being very convenient for the user to use because it assists the joint movement while automatically aligning with the movement of the complex degrees of freedom of the human body joints.

In addition, the present invention has the advantage of assisting joint operation with a very high degree of freedom in accordance with the movement of the user's joints while being composed of a relatively simple and simple structure and can be manufactured at a relatively low cost.

1 is a perspective view showing a state in which a self-alignable joint assist device according to a first embodiment of the present invention is worn on a leg.

2 and 3 are views for explaining the operation of the self-alignable joint assist device shown in FIG. 1 .

4 is a plan view of a joint assist device capable of self-alignment according to a second embodiment of the present invention.

5 is a plan view of a joint assist device capable of self-alignment according to a third embodiment of the present invention.

Hereinafter, one embodiment according to the present invention will be described in more detail with reference to the accompanying drawings.

The joint assisting device capable of self-alignment of the present invention is a device that assists movement of the joint by being worn near the joint of the human body. The joint assist device capable of self-alignment of the present invention may be worn and used on a joint capable of folding or unfolding by being connected by ligaments of the human body. Hereinafter, parts of the human body that are connected to each other by joints and perform a folding operation will be referred to as a first part and a second part, respectively. In addition, hereinafter, as an example of such a joint, a case in which the present invention is applied to a knee joint of a human body will be described as an example. In the case of the knee joint, the thigh (thigh) is the first part and the lower leg (calf) is the second part.

In this way, when the present invention is applied to the knee joint, the motion of extending the knee joint is assisted by the tension of the wire, and when the tension of the wire is removed, the knee joint is bent by the weight or muscle strength of the lower leg.

1 is a view of a state in which a joint assist device capable of self-alignment according to a first embodiment of the present invention is worn, and FIGS. 2 and 3 are for explaining the operation of the joint assist device capable of self-alignment shown in FIG. It is a drawing for

1 to 3, the joint assist device capable of self-alignment according to the present embodiment includes a first member 100, a second member 200, an intermediate unit 300, and a wire 401. .

The first member 100 is worn and fixed to the first part 10 (femur, thigh) by the first wearing member 610, and the second member 200 is fixed by the second wearing member 620. It is worn and fixed on the user's second part 20 (lower leg, calf). An intermediate unit 300 is disposed between the first member 100 and the second member 200 to come into contact with the first member 100 on the upper side and the first member 100 on the lower side.

The first member 100 includes a first body 110, a plurality of first rollers 130, and a first sliding part 120. The first member 100 is formed in a plate shape so as to be in surface contact with the side surface of the first part 10 . A plurality of first rollers 130 are installed on the first body 110 . The first sliding part 120 is formed on the lower surface of the first body 110 . That is, the first sliding part 120 is formed on the first body 110 in contact with the intermediate unit 300 . In this embodiment, the first sliding portion 120 is formed convexly and extends along the longitudinal direction. In addition, the first sliding portion 120 is formed as a curved surface that is curved in a curved shape so as to gradually move away from the intermediate unit 300 toward the rear of the joint (the knee joint in this embodiment). The plurality of first rollers 130 are installed inside the first body 110 so as to be freely rotatable with respect to the first body 110, and are arranged along the front and rear directions of the knee.

The second member 200 is disposed below the first member 100 and is formed in a substantially symmetrical shape with respect to the first member 100 . The second member 200 includes a second body 210, a plurality of second rollers 230, and a second sliding part 220. The second member 200 is formed in a plate shape so as to be in surface contact with the side surface of the second part 20 . A plurality of second rollers 230 are installed on the second body 210 . The second sliding part 220 is formed on the upper surface of the second body 210 . That is, the second sliding part 220 is formed on the second body 210 in contact with the intermediate unit 300 . In the case of this embodiment, the second sliding portion 220 is formed convexly and extends along the longitudinal direction. In addition, the second sliding portion 220 is formed as a curved surface that is curved in a curved shape so as to gradually move away from the intermediate unit 300 toward the rear of the joint. The plurality of second rollers 230 are installed inside the second body 210 so as to freely rotate with respect to the second body 210, and are arranged along the front and rear directions of the joints.

The intermediate unit 300 disposed between the first member 100 and the second member 200 includes an intermediate member 310, a first contact portion 321, a second contact portion 322, and a plurality of intermediate rollers ( 330). The intermediate member 310 is formed in a plate shape so as to be in surface contact with the side of the knee joint.

The first contact portion 321 is formed on the upper surface of the intermediate member 310 . The first contact portion 321 is formed to allow mutual sliding while being in contact with the first sliding portion 120 of the first member 100 . In this embodiment, the first contact portion 321 is concave to correspond to the convex shape of the first sliding portion 120 . Due to the structure of the first sliding portion 120 and the first contact portion 321, the first member 100 and the intermediate member 310 do not separate from each other while in contact with each other, and relative sliding motion is possible. The first contact portion 321 of the intermediate unit 300 is formed to include a curved surface formed to gradually move away from the first member 100 toward the rear of the joint.

The second contact portion 322 is formed on the lower surface of the intermediate member 310 . The second contact portion 322 is formed to allow mutual sliding while being in contact with the second sliding portion 220 of the second member 200 . In this embodiment, the second contact portion 322 is concave to correspond to the convex shape of the second sliding portion 220 . Due to the structure of the second sliding portion 220 and the second contact portion 322, the second member 200 and the intermediate member 310 do not separate from each other while in contact with each other, and relative sliding motion is possible. The second contact portion 322 of the intermediate unit 300 is formed to include a curved surface formed to gradually move away from the second member 200 toward the rear of the joint.

The plurality of intermediate rollers 330 are installed inside the intermediate member 310 so as to be freely rotatable with respect to the intermediate member 310, and are arranged along the front-rear direction of the joint.

The first body 110 of the first member 100 and the intermediate member 310 of the intermediate unit 300 are connected by a first connecting member 510 . The first connecting member 510 connects the first body 110 and the intermediate member 310 in the form of a link. Accordingly, the first connecting member 510 may allow mutual sliding and rotation of the first body 110 and the intermediate member 310 on the same side while preventing lateral relative movement between the first member 100 and the intermediate unit ( 300) are connected.

The second body 210 of the second member 200 and the intermediate member 310 of the intermediate unit 300 are connected by a second connecting member 520 . The second connecting member 520 connects the second body 210 and the intermediate member 310 in the form of a link. Accordingly, the second connecting member 520 may allow mutual sliding and rotation of the second body 210 and the intermediate member 310 on the same side while preventing lateral relative movement between the second member 200 and the intermediate unit ( 300) are connected.

Although lateral relative movement between the first member 100 and the intermediate member 310 is not allowed, in the present embodiment, the first connecting member 510 is appropriately configured to allow mutual inclination within a predetermined angle range. It is formed of a material having elasticity that can be bent. Like the first connection member 510, the second connection member 520 is also formed of a material having elasticity.

The wire 401 includes a plurality of first rollers 130 and a plurality of intermediate rollers so as to provide tension in a direction in which the first member 100, the intermediate unit 300, and the second member 200 approach each other ( 330) and at least a portion of the plurality of second rollers 230. That is, when tension is applied to the wire 401 by pulling the wire 401, the first body 110, the intermediate member 310, and the second body 210 mutually slide in a direction close to each other, and the wire 401 The wires 401 are aligned with each other in the position and direction where the path becomes the shortest, and the first roller 130 and the intermediate roller 330 of the first body 110, the intermediate member 310, and the second body 210, respectively. and the second roller 230 are arranged to pass through various paths. Accordingly, the first rollers 130, the second rollers 230, and the wire 401 operate in the form of a movable pulley. That is, even with a relatively small tension applied to the wire 401, a force assisting the knee joint to be stretched is generated by effectively assisting the knee joint. The intermediate rollers 330 serve to maintain the path of the wire 401 .

In this embodiment, one end of the wire 401 is fixed to the second body 210. As shown in FIGS. 2 and 3, the wire 401 alternately passes between the first rollers 130 and the second rollers 230 in a zigzag pattern and is guided by the intermediate rollers 330 at the same time. is extended The other end of the wire 401 is connected to the drive unit 400 . In this embodiment, the driving unit 400 is worn on the user's waist to adjust the tension applied to the wire 401 . If necessary, the driving unit 400 may be worn and fixed to another part such as the first part 10 . The driving unit 400 may be configured to pull the wire 401 by a motor or may be configured to transmit tension to the wire 401 by an elastic member such as a spring. The driving unit 400 may be configured in various other shapes as long as it is a shape capable of transmitting tension to the wire 401 .

The first wearing member 610 for wearing the first member 100 to the first part 10 can be variously modified in any structure as long as it can fix the first member 100 to the first part 10. It can be. In this embodiment, a first wearing member 610 having the same structure as shown in FIG. 1 is used. The first wearing member 610 of the joint assist device capable of self-alignment according to the present embodiment includes a first wearing support part 611 and a first band part 613 . The first wear support part 611 is coupled to the first member 100 . The first wear support part 611 is formed by bending a thin plate-like member made of synthetic resin into a U shape. The first band part 613 is formed of an elastic material that can be stretched by elasticity, and is coupled to both ends of the first wear support part 611 . In the case of this embodiment, the first wearing support part 611 is disposed to surround the rear surface of the first part 10, and the first band part 613 surrounds the front surface of the first part 10. The first wearing support part 611 ) is coupled to both ends of With this structure, the first wearing member 610 can wear the first member 100 on the first part 10 while effectively supporting the first part 10 even with a light and simple structure. In addition, even when the muscles of the first portion 10 expand or contract while the knee joint operates, the first member 100 can be stably worn on the first portion 10 without causing discomfort to the user.

The second wearing member 620 for wearing the second member 200 on the second portion 20 is formed in a structure similar to that of the first wearing member 610 . The second wearing member 620 includes a second wearing support part 621 and a second band part 623 . The second wear support part 621 is coupled to the second member 200 . The second wear support part 621 is formed by bending a thin plate-like member made of synthetic resin into a U shape. The second band part 623 is formed of an elastic material that can be stretched by elasticity, and is coupled to both ends of the second wear support part 621 . The second wearing support part 621 is disposed to surround the rear surface of the second part 20, and the second band part 623 is disposed at both ends of the second wearing support part 621 so as to cover the front surface of the second part 20. are combined

Hereinafter, the operation of the self-alignable joint assist device according to the present embodiment constructed as described above will be described.

First, the first wearing member 610 is worn on the first portion 10 and the second wearing member 620 is worn on the second portion 20 to obtain a state as shown in FIG. 1 .

When tension is removed from the wire 401, the user can freely bend the knee joint. When the user sits on a chair or bends his knees, such as sitting on the ground, the first member 100, the intermediate unit 300, and the second member 200, as shown in FIG. While moving individually, relative movement and relative rotation are performed according to the movement of the knee joint. Even if the structure or motion characteristics of the lower body are different for each user wearing the joint assist device capable of self-alignment according to the present embodiment, the first member 100, the intermediate unit 300, and the second member 200 are independent of each other in the knee joint. It adapts to the joint structure and moves with a high degree of freedom. Therefore, when tension does not act on the wire 401, no resistance is given to the movement of the user's knee joint, and no discomfort is given to the user.

In addition, as described above, in the joint assist device capable of self-alignment according to the present embodiment, the first sliding part 120 and the second sliding part 220 are each curved toward the rear of the knee and away from the intermediate unit 300. Since it is formed, when the knee joint is bent, the first member 100 and the second member 200 rotate more smoothly according to the angle of the knee joint. The first contact part 321 and the second contact part 322 of the intermediate unit 300 are also formed in a curved shape that moves away from the first member 100 and the second member 200 toward the rear of the knee, respectively. will perform effectively.

At this time, in line with the relative movement and relative rotation of the first member 100, the intermediate unit 300, and the second member 200, respectively, the wire 401 moves through the first roller 130, the intermediate roller 330, and the second member 200. It moves while passing through the two rollers 230. When the wire is released while only a very small tension is applied to the wire 401 by the driving unit 400, the first member 100, the intermediate unit 300, and the second member 200 are connected to the tension of the wire 401 and the first The position and direction are adjusted by sliding each other while maintaining each other in contact with each other by the connecting member 510 and the second connecting member 520 .

Next, when the driving unit 400 operates and pulls the wire 401, as shown in FIG. 3, the first member 100, the intermediate unit 300 and the second member ( 200) moves in a direction closer to each other, and the knees are extended. When the wire 401 is pulled by the driving unit 400, the wire 401 moves while rotating the first roller 130, the intermediate roller 330, and the second roller 230, and the first member 100 and The second members 200 respectively approach the intermediate unit 300 and transmit the force in a direction in which the rotation angle decreases. At this time, the first member 100, the intermediate unit 300, and the second member 200 move in a direction in which the distance and angle decrease from each other while sliding and rotating with a high degree of freedom according to the user's body shape. As a result, the user's knee joint is stretched as shown. The thigh and lower leg do not have a structure that is connected to each other on a single axis of rotation, but perform complex relative movements according to the anatomical structure of the knee joint according to the body shape of each person. The joint assist device capable of self-alignment according to the present embodiment As the detailed components of the system are automatically aligned according to the user's posture and body shape, they support the movement of the knee joint. Therefore, it is possible to effectively assist the movement of the knee joint while minimizing discomfort or foreign body sensation to the user of the present invention.

In addition, as described above, since the wire 401 acts as a moving pulley while moving via the first rollers 130 and the second rollers 230, the force of the driving unit 400 pulling the wire 401 is Even if it is not strong, it can support the motion of extending the knee with a strong enough force. That is, as long as the wire 401 can be pulled with a sufficient operating displacement even when using the drive unit 400 having a low output, the motion of the knee joint can be easily assisted by the drive unit 400 . Therefore, it is possible to reduce the size and weight of the drive unit 400 . As a result, it is possible to produce the self-alignable joint assist device according to the present invention at a relatively low cost.

In this way, the first rollers 130 and the second rollers 230 serve to make the wire 401 operate as a moving pulley, and the intermediate rollers 330 separate the wire 401 from the intermediate unit 300. It serves to maintain the path of the wire 401 inside the intermediate unit 300 without

As described above, the first wear support portion 611 and the second wear support portion 621 are made of a thin plate-shaped synthetic resin material and can be manufactured lightly and inexpensively. Even such a thin plate-like member has sufficient rigidity in the longitudinal direction of the first part 10 or the second part 20 when bent in a U shape. Accordingly, while the first wear support part 611 and the second wear support part 621 surround and support the rear surfaces of the first part 10 and the second part 20, respectively, the wire 401 is pulled, so that the first member When force is applied to the 100 and the second member 200 in the direction of extending the knee, the first wear support part 611 and the second wear support part 621 are the first part 10 and the second part 20, respectively. ) to effectively transmit power.

In addition, the first band part 613 and the second band part 623 are formed of an elastic material so that the first wearing member 610 and the second wearing member 620 are the first part 10 and the second part 20, respectively. ) to keep it in close contact according to the size of the outer diameter. Unlike other conventional wearing members in which the size of the inner diameter is fixed, the first wearing member 610 and the second wearing member 620 change according to the contraction and expansion of the muscles of the first part 10 and the second part 20. Since it maintains the wearing state while contracting and expanding according to the outer diameter size, it is possible to provide comfort to the user while effectively assisting the movement of the knee joint.

In the above, the present invention has been described with a preferred embodiment, but the scope of the present invention is not limited to the form described and illustrated above.

For example, although one end of the wire 401 is fixed to the first member 100 and the other end is connected to the driving unit 400 as an example, both ends of the wire are connected to the driving unit. The self-alignable joint assist device of the present invention may be configured to be connected and pulled or released at the same time. It is also possible that one end of the wire is fixed to the first member or intermediate unit instead of the second member, and the other end is connected to the driving unit.

The path of the wire 401 may also be variously changed as needed. The wire 401 may be arranged to pass through the first member 100, the intermediate unit 300, and the second member 200 through various paths other than those shown in FIGS. 2 and 3 . When the wire is arranged to pass through the first roller, the intermediate roller, and the second roller at least once, the above-described operation can be implemented.

In some cases, even if at least one of the first roller 130, the intermediate roller 330, and the second roller 230 is not provided, the wire 401 is the first member 100, the intermediate unit 300, When connected via the second member 200 at least once, the operation of the present invention and the effects thereof as described above can be achieved.

The number of driving units 400 and wires 401 is not limited to one, and may be variously provided as needed. That is, the joint assist device capable of self-alignment of the present invention having a plurality of wires may be configured. In this case, a plurality of wires may be connected to one drive unit to be pulled or released, and each wire may have a separate The self-aligning joint assist device of the present invention may be configured to be pulled or released by connecting the drive unit.

The driving unit 400 may be fixed to a part of the user's body, such as the user's waist, or may be installed on the first wearing member 610 or the second wearing member 620 . In some cases, it is also possible to implement the joint assist device capable of self-alignment of the present invention in a form without the drive unit 400 . In this case, it is produced and sold in a form without the driving unit 400, and the user may connect the wire 401 to the previously prepared driving unit 400 to use the joint assist device capable of self-alignment of the present invention. .

In addition, the shapes of the first member 100, the intermediate unit 300, the second member 200, the first wearing member 610 and the second wearing member 620 are not limited to those shown in the drawings. It can be transformed into various other shapes. That is, the first member, the intermediate unit, and the second member may each be deformed to have various polygons or curved surfaces. Depending on the shapes of the first member, the intermediate unit, and the second member, the shapes of the first sliding portion, the second sliding portion, the first contact portion, and the second contact portion may be variously modified. In particular, the first material member and the intermediate unit may be formed in a form in which the first sliding portion and the first contact portion do not make surface contact as a whole but contact only at some points. The relationship between the second sliding portion and the second contact portion and the relationship and shape are the same.

In addition, the concavo-convex shapes of the first sliding part 120, the second sliding part 220, the first contact part 321, and the second contact part 322 can be transformed into various other shapes. It is also possible to modify the shape of the first sliding portion, the second sliding portion, the first contact portion, and the second contact portion, respectively, in a form not provided. In some cases, the first sliding part, the second sliding part, the first contacting part, and the second contacting part are configured in the form of a guide groove extending along the longitudinal direction and a guide protrusion slidably inserted into the guide groove. It is also possible to do

In addition, it is also possible to construct a joint assist device capable of self-alignment in a structure in which the curved surface as described above is not formed on the first sliding part 120, the second sliding part, the first contact part, and the second contact part. The shapes of the first member 100, the second member 200, and the intermediate unit 300 can be modified in various ways, and the distance between the first member, the intermediate unit, and the second member is the smallest when the knee is extended. When in close contact with each other, the first member 100, the intermediate unit 300, and the second member 200 are automatically aligned with each other by the tension of the wire 401 to assist the knee joint while finding the position and direction. do. In some cases, the shape of the first member, the intermediate unit, and the second member are adjusted so that the first member, the intermediate unit, and the second member are in close contact with each other and aligned in a state where the knee is bent at a predetermined angle rather than fully extended. can also be adjusted.

In addition, it is also possible to implement the self-alignable joint assist device of the present invention in a form not provided with the first connection member 510 and the second connection member 520 as described above. It is also possible to configure a self-aligning joint assist device having a first connection member and a second connection member having a different shape and structure than those previously described and shown.

Next, referring to FIG. 3 , a joint assist device capable of self-alignment according to a second embodiment of the present invention will be described. The structure of the intermediate unit in the joint assist device capable of self-alignment according to the second embodiment is different from that of the joint assist device capable of self-alignment according to the first embodiment, but all other components are the same. Accordingly, components other than the intermediate unit are shown with the same member numbers as those of the self-alignable joint assist device according to the first embodiment, and detailed descriptions of the components are omitted.

The intermediate member 310 of the joint assist device capable of self-alignment according to the second embodiment is characterized in that it is composed of a plurality of intermediate bodies 311. The intermediate member 310 of the joint assist device capable of self-alignment according to the first embodiment was formed as one structure, but the intermediate member of the joint assist device capable of self-alignment according to the second embodiment is shown in FIG. As such, it is composed of three intermediate bodies 311. The intermediate bodies 311 are provided with intermediate contact portions 3111 to permit sliding in a state of contact with adjacent intermediate bodies 311 . The part where the intermediate bodies 311 come into contact with each other is formed as an intermediate contact portion 3111 so as to be slidable to each other.

At least one intermediate roller 330 is installed on each of the intermediate bodies 311 .

Except for the configuration of the intermediate member 310 of the intermediate unit 300, the configuration of the joint assist device capable of self-alignment according to the first embodiment is the same as that of the first embodiment, and the operating relationship is also according to the first embodiment. It is the same as a joint assist device capable of self-alignment.

In the joint assist device capable of self-alignment of the present embodiment configured as described above, when the wire 401 is pulled or released, the first member 100, the intermediate unit 300, and the second member 200 are connected to each other as in the first embodiment. While sliding, the position and direction change according to the movement of the knee joint. In addition, in the case of this embodiment, the position and angle of the intermediate members 310 of the intermediate unit 300 are also adjusted by the tension of the wire 401 while sliding with each other. Intermediate members 310 are connected to each other by wires 401, and their positions and directions are adjusted according to the movement of joints while maintaining contact with each other according to tension.

Like the self-alignable joint assist device according to the first embodiment described above, the joint assist device capable of self-alignment according to the second embodiment may also have various configurations modified.

Next, referring to FIG. 5 , a joint assist device capable of self-alignment according to a third embodiment of the present invention will be described. Hereinafter, the same components as those of the first embodiment are illustrated and described with the same member numbers.

The joint assist device capable of self-alignment of the third embodiment is characterized in that it does not include an intermediate unit 300 . Components identical to or similar to the self-alignable joint assist device according to the first embodiment are illustrated by assigning the same member numbers, and detailed descriptions of the components are omitted.

The joint assist device capable of self-alignment of the third embodiment is configured to move while sliding with each other in a state in which the intermediate unit 300 is not present and the first member 100 and the second member 200 are in direct contact with each other. Accordingly, the first sliding portion 121 of the first member 100 and the second sliding portion 221 of the second member 200 come into contact with each other to slide and move. The first member 100 and the second member 200 are connected to each other by a wire 401, and the wire 401 is connected to the first roller 130 of the first member 100 and the second member 200. While moving via the second rollers 230 of the first member 100 and the second member 200 transmits the tension in the direction close to each other.

When the tension of the wire 401 decreases and the wire 401 is released, the first member 100 and the second member 200 move in a direction away from each other and increase in mutual angle. Conversely, when the wire 401 is pulled by the driving unit 400, the tension of the wire 401 moves the first member 100 and the second member 200 in a direction closer to each other, and the mutual angle decreases.

In order to make the movement between the first member 100 and the second member 200 more smooth, the first sliding part 121 and the second sliding part 221 are further away from each other toward the rear of the joint. It is possible to form a curved surface to be formed. In addition, one side is concave and one side is convex so that the first sliding part 121 and the second sliding part 221 guide mutual sliding, or one side is formed as a groove and the other side is inserted into the groove and moves. can also be formed.

In addition, similar to the first connection member 510 and the second connection member 520 of the first embodiment, the configuration of the connection member for interconnecting the first member 100 and the second member 200 is optionally provided. can do.

As described above, the case where the present invention is mainly applied to the knee joint has been described as an example, but the present invention can be applied to various other joints of the human body as well as the knee joint.

Claims

A joint assisting device capable of self-alignment that is worn near a joint connecting a first part and a second part of a human body to assist movement of a joint, comprising:

a first member having a first body, a plurality of first rollers installed on the first body, and a first sliding part formed on a lower surface of the first body and worn on the first part;

a second member having a second body, a plurality of second rollers installed on the second body, and a second sliding part formed on an upper surface of the second body and worn on the second part;

An intermediate member disposed between the first member and the second member, and a first contact portion formed on the intermediate member to permit mutual sliding while being in contact with the first sliding portion of the first member; A second contact portion formed on the intermediate member and a plurality of intermediate rollers installed on the intermediate member to allow mutual sliding in a state of contact with the second sliding portion of the two members, and the first member and the second member an intermediate unit disposed between; and

The plurality of first rollers and the plurality of intermediate rollers provide tension in a direction in which the first member, the intermediate unit, and the second member approach each other so that the first member, the intermediate unit, and the second member are mutually slid and aligned. A joint assisting device capable of self-alignment including; a wire installed to pass through at least a portion of the plurality of second rollers.
According to claim 1,

The first sliding part and the first contact part are formed in a shape corresponding to each other along the longitudinal direction to guide mutual sliding, one side being concave and the other being convex,

The second sliding part and the second contact part are self-alignable joint assisting devices in which one side is concave and the other side is formed convex in a shape corresponding to each other along the longitudinal direction to guide mutual sliding.
According to claim 1,

The first sliding portion of the first member includes a curved surface formed to gradually move away from the intermediate unit toward the rear of the joint,

The second sliding portion of the second member includes a curved surface formed so as to gradually move away from the intermediate unit toward the rear of the joint.
According to claim 1,

The first contact part of the intermediate unit includes a curved surface formed to gradually move away from the first member toward the rear of the joint,

The second contact portion of the intermediate unit includes a curved surface formed to gradually move away from the second member toward the rear of the joint.
According to claim 3,

The first contact part of the intermediate unit includes a curved surface formed to gradually move away from the first member toward the rear of the joint,

The second contact portion of the intermediate unit includes a curved surface formed to gradually move away from the second member toward the rear of the joint.
According to claim 1,

a first connection member connecting the first body and the intermediate member to allow mutual sliding and rotation of the first body of the first member and the intermediate member of the intermediate unit on the same plane while preventing relative movement in a lateral direction; and

A second connecting member connecting the second body and the intermediate member to allow mutual sliding and rotation of the second body of the second member and the intermediate member of the intermediate unit on the same plane while preventing relative movement in a lateral direction; Joint assist devices capable of self-alignment, including.
According to claim 6,

The first connection member and the second connection member are self-alignable joint assisting devices formed of an elastic material to allow bending.
According to claim 1,

The intermediate member of the intermediate unit,

It includes a plurality of intermediate bodies sequentially disposed adjacent to each other, and each of the plurality of intermediate bodies has an intermediate contact portion formed to allow sliding in a state of contact with other adjacent intermediate bodies,

A plurality of intermediate rollers of the intermediate unit are capable of self-aligning joint assist device, each of which at least one is installed in the plurality of intermediate bodies.
According to any one of claims 1 to 8,

a first wearing member for wearing the first member on the first portion; and

A joint assisting device capable of self-alignment further comprising a second wearing member for wearing the second member to the second part.
According to claim 9,

The first wearing member is formed by bending a plate-like member in a U-shape and is coupled to a first wearing support portion coupled to the first member, and coupled to both ends of the first wearing support portion to elastically wrap the first portion. Including a first band portion formed of an elastic material,

The second wearing member is formed by bending a plate-like member in a U-shape and is coupled to both ends of the second wearing support portion coupled to the second member and the first wearing support portion so as to elastically surround the first portion. A joint assisting device capable of self-alignment including a second band portion formed of an elastic material.
According to any one of claims 1 to 8,

A driving unit connected to the wire to provide tension to the wire; further comprising,

One end of the wire is connected to the drive unit and the other end is fixed to any one of the first body, the intermediate member and the second body, capable of self-alignment joint assist device.
According to any one of claims 1 to 8,

A driving unit connected to the wire to provide tension to the wire; further comprising,

Both ends of the wire are self-alignable joint assist devices that are connected to the drive unit.
A joint assisting device capable of self-alignment that is worn near a joint connecting a first part and a second part of the human body to assist movement of a knee joint, comprising:

a first member having a first body, a plurality of first rollers installed on the first body, and a first sliding part formed on a lower surface of the first body and worn on the first part;

The second body and the plurality of second rollers installed on the second body are formed on the upper surface of the second body and are in contact with the first sliding part of the first member to allow mutual sliding. a second member having a second sliding part formed on one body and worn on the second part; and

To provide tension in a direction in which the first member and the second member approach each other so that the first member and the second member pass through at least a portion of the plurality of first rollers and the plurality of second rollers so that the first member and the second member slide and align with each other. A joint assist device capable of self-alignment including; a wire to be installed.
According to claim 13,

The first sliding part and the second sliding part are capable of self-alignment joint assistance devices in which one side is concave and the other side is formed convex in a shape corresponding to each other along the longitudinal direction to guide mutual sliding.
According to claim 13,

The first sliding portion of the first member includes a curved surface formed so as to gradually move away from the second member toward the rear of the joint.
According to claim 13,

The second sliding portion of the second member includes a curved surface formed to gradually move away from the first member toward the rear of the joint.
According to claim 13,

A connecting member connecting the first body and the second body to prevent lateral relative movement while allowing mutual sliding and rotation of the first body of the first member and the second body of the second member on the same plane; A joint assist device capable of self-alignment further comprising.
According to claim 17,

Wherein the connection member is formed of an elastic material to allow bending.
According to any one of claims 13 to 18,

a first wearing member for wearing the first member on the first part; and

A joint assisting device capable of self-alignment further comprising a second wearing member for wearing the second member to the second part.
According to claim 19,

The first wearing member is formed by bending a plate-like member in a U-shape and is coupled to a first wearing support portion coupled to the first member, and coupled to both ends of the first wearing support portion to elastically wrap the first portion. Including a first band portion formed of an elastic material,

The second wearing member is formed by bending a plate-like member in a U-shape and is coupled to both ends of the second wearing support portion coupled to the second member and the first wearing support portion so as to elastically surround the first portion. A joint assisting device capable of self-alignment including a second band portion formed of an elastic material.
According to any one of claims 13 to 18,

A driving unit connected to the wire to provide tension to the wire; further comprising,

One end of the wire is connected to the driving unit and the other end is fixed to either one of the first body and the second body, capable of self-alignment joint assist device.
According to any one of claims 13 to 18,

A driving unit connected to the wire to provide tension to the wire; further comprising,

Both ends of the wire are self-alignable joint assist devices that are connected to the drive unit.